CN111606062B - Robot-based specimen transportation method and robot - Google Patents
Robot-based specimen transportation method and robot Download PDFInfo
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Abstract
The invention provides a robot-based specimen transportation method and a robot, comprising the following steps: according to the received information of the specimen delivery place, the specimen is sent to the corresponding delivery place; when the goods arrive at the delivery place, opening the sample putting port, collecting the samples to be transported, and storing the samples in the sample collecting area; acquiring the type of each specimen in the specimen collecting area by reading the identification code on the specimen; and when the goods arrive at the receiving place, opening the classification storage unit corresponding to the receiving place so as to take the samples in the classification storage unit away. The automatic specimen collecting and sorting system can finish automatic collection, automatic sorting and classified transportation of specimens, realizes automatic transportation of the specimens in the whole process, reduces manual participation links, saves labor cost, avoids manual errors and improves the overall transportation efficiency.
Description
Technical Field
The invention relates to the field of robot cargo distribution, in particular to a robot-based specimen transportation method and a robot.
Background
The inspection of the specimen is one of main transportation materials of a hospital, and the specimen inspection has strong timeliness, and the specimen is inspected as soon as possible after being produced, so that high requirements are imposed on the transportation process and the speed. Specimens are produced at various sites of a hospital, such as an inpatient area, an outpatient blood drawing place, and the like, and are transported to various destinations, such as examination departments for biochemical examination, microbiological examination, and the like, according to different examination items. At present, specimen transportation has several types of modes: manual transportation, pneumatic logistics, rail logistics, logistics robots, and the like.
The above logistics modes can only transport the specimens of different places to one place, and then the specimens are manually sorted and classified and then transported to different inspection destinations for the second time.
Further, there are also the following problems:
the whole specimen transportation process is divided into a plurality of serial independent actions, and adverse effects are generated on specimen transportation timeliness. In the middle of the process, manual assistance is needed, and manual operation has the problems of nonstandard action, high error rate, difficult management, more human errors and the like.
Disclosure of Invention
One of the objectives of the present invention is to provide a method for transporting a specimen based on a robot and a robot, which overcome some of the disadvantages of the prior art.
The technical scheme provided by the invention is as follows:
a robot-based specimen transport method comprising: according to the received information of the specimen delivery place, the specimen is sent to the corresponding delivery place; when the goods arrive at the delivery place, opening the sample putting port, collecting the samples to be transported, and storing the samples in the sample collecting area; acquiring the type of each specimen in the specimen collecting area by reading the identification code on the specimen; obtaining a receiving place corresponding to the specimen according to the specimen type, and automatically sorting the specimen to a classification storage unit corresponding to the receiving place; according to the obtained information of the goods receiving place, the corresponding goods receiving place is visited; and when the goods arrive at the receiving place, opening the classification storage unit corresponding to the receiving place so as to take the samples in the classification storage unit away.
Further, said opening the specimen deposit port when arriving at said delivery location comprises: and when the delivery place is reached and the right of the specimen throwing personnel is verified, automatically opening the specimen throwing port for throwing the specimen to be transported.
Further, the obtaining of the specimen type of each specimen in the specimen collection area by reading the identification code on the specimen comprises: enabling the samples in the sample collecting area to pass through a code reader one by one, and reading identification codes on the samples to obtain the assay item information of the samples; and acquiring the type of the specimen according to the assay item information of the specimen.
Further, the obtaining of the receiving place corresponding to the specimen according to the specimen type and the automatic sorting of the specimen to the classification storage unit corresponding to the receiving place comprises: determining a receiving place of the specimen and a classification storage unit corresponding to the receiving place according to the specimen type of the specimen; and controlling the specimen to fall to a corresponding passage port and slide to a corresponding classification storage unit along the passage port.
Further, when the destination is a receiving place, opening the classification storage unit corresponding to the receiving place includes: and when the receiving place is reached and the authority of the personnel taking out the samples is verified, opening the classification storage unit corresponding to the receiving place.
The present invention also provides a robot comprising: the sample collection module is used for going to a corresponding delivery place according to the received sample delivery place information; when the goods arrive at the delivery place, opening the sample putting port, collecting the samples to be transported, and storing the samples in the sample collecting area; the sample sorting module is used for acquiring the sample type of each sample in the sample collecting area by reading the identification code on the sample; obtaining a receiving place corresponding to the specimen according to the specimen type, and automatically sorting the specimen to a classification storage unit corresponding to the receiving place; the specimen transportation module is used for going to a corresponding receiving place according to the obtained receiving place information; and when the goods arrive at the receiving place, opening the classification storage unit corresponding to the receiving place so as to take away the specimen in the classification storage unit.
Further, still include: the authority identification module is used for identifying the authority of the specimen throwing personnel; and the specimen collection module is further used for automatically opening the specimen input port for inputting the specimen to be transported when the delivery place is reached and the authority of the specimen input personnel is verified.
Further, still include: the code reader is used for reading the identification code on the sample and acquiring the assay item information of the sample; the specimen sorting module includes: and the sample type acquisition unit is used for acquiring the sample type of the sample according to the assay item information of the sample output by the code reader when the samples in the sample collection area pass through the code reader one by one.
Further, the specimen sorting module further comprises: the distribution unit is used for determining a receiving place of the specimen and a classification storage unit corresponding to the receiving place according to the specimen type of the specimen; the specimen sorting module is further used for controlling the specimens to fall to the corresponding passage openings and fall to the corresponding classification storage units along the passage openings.
Furthermore, the permission identification module is further used for identifying the permission of the specimen taking personnel; and the specimen collection module is further used for opening a classification storage unit corresponding to the receiving place when the receiving place is reached and the authority of the personnel taking out the specimens is verified.
The robot-based specimen transportation method and the robot provided by the invention can at least bring the following beneficial effects:
1. according to the automatic specimen collecting and sorting system, a full-flow automatic specimen transporting process is completed through automatic specimen collecting, automatic specimen sorting and transporting based on the robot, an intermediate link of manual participation is eliminated, the manual participation work is reduced to the minimum, the labor cost is saved, and manual errors are avoided; meanwhile, the automatic sorting, the collecting and the transporting processes are carried out in parallel, and the whole transporting efficiency is improved.
2. According to the invention, the permission identification module is additionally arranged on the robot, and only permission personnel are allowed to put in and take out the samples, so that the safety of the whole transportation process is improved.
Drawings
The above features, technical features, advantages and implementations of a robot-based specimen transport method and a robot will be further described in the following preferred embodiments in a clearly understandable manner with reference to the accompanying drawings.
FIG. 1 is a flow chart of one embodiment of a robot-based specimen transport method of the present invention;
FIG. 2 is a flow chart of another embodiment of a robot-based specimen transport method of the present invention;
FIG. 3 is a schematic structural diagram of one embodiment of a robot of the present invention;
fig. 4 is a schematic structural diagram of another embodiment of a robot of the present invention.
The reference numbers illustrate:
100. the system comprises a specimen collecting module, 200 specimen sorting module, 300 specimen transportation module, 210 specimen type acquiring unit, 220 distributing unit, 400 authority identification module and 500 code reader.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically depicted, or only one of them is labeled. In this document, "one" means not only "only one" but also a case of "more than one".
One embodiment of the present invention, as shown in fig. 1, is a robot-based specimen transportation method, including:
step S100 is to the corresponding delivery place according to the received specimen delivery place information.
Specifically, the specimen refers to a test sample in a hospital, such as a blood sample, a urine sample, a saliva sample, or the like. After the specimen is produced, the medical staff in the department can call the robot to transport by pressing keys or apply for the robot to transport in the system. The system distributes the collected specimen shipment location information to the idle robots. And the robot automatically goes to a delivery place to collect the samples according to the received information of the delivery places of the samples.
And planning a path in the robot according to a preset rule, such as that the travel distance is shortest, and if a plurality of delivery places exist, according to a rule of the delivery priority plus the optimal travel distance, and the like, and then respectively going to the corresponding delivery places according to the planned path. The system can improve the specimen transportation efficiency of the whole system on the basis of meeting the demand because the system does not respond according to the production sequence of the delivery demand but goes to each delivery place according to the planned optimal path.
And step S200, when the ship arrives at the delivery place, opening a sample putting port, collecting the sample to be transported, and storing the sample in a sample collecting area.
Specifically, when arriving at the delivery site, the medical staff can open the specimen input port on the robot and input the specimen of the department into the robot through the specimen input port. The shipping location may produce a plurality of specimens of the same type or different types. All the samples can be put in batch according to the sample putting requirement.
In order to prevent an unauthorized person from mistakenly throwing in articles to enhance safety, preferably, the robot automatically opens the specimen throwing port for throwing in the specimen to be transported when recognizing that the specimen throwing person is an authorized person. Optionally, a permission identification module is arranged on the robot, for example, a card reading device adopting NFC technology or RFID technology, or a password input device, etc. The method comprises the steps that a user swipes a card in front of card reading equipment, the card reading equipment acquires identity information of a card swiper, and whether the user has corresponding authority or not is judged according to the identity information; or the user inputs a password, the password input equipment acquires the input password, and whether the user has the corresponding authority is judged according to the password. If the robot is a person with authority, automatically opening a specimen throwing port on the robot; otherwise, the specimen throwing port is not opened.
After the specimen is put in, the specimen putting opening can be manually closed by a specimen putting person. Or the robot can automatically close the specimen throwing port when detecting that no articles are thrown in within the preset time.
Step S300 is to obtain the specimen type of each specimen in the specimen collecting area by reading the identification code on the specimen.
Step S400, a receiving place corresponding to the specimen is obtained according to the specimen type, and the specimen is automatically sorted to a classification storage unit corresponding to the receiving place.
Specifically, the corresponding receiving place of the specimen is the assay place of the specimen. The robot is provided with a plurality of classification storage units, samples belonging to the same receiving place are placed into the same classification storage unit, and samples belonging to different receiving places are placed into different classification storage units. The process of performing this function is called sorting. The advantage of sorting is that it facilitates the taking of the goods, and all the specimens it requires are available from a sort storage unit at one receiving location.
The manual sorting is usually adopted, but the robot automatic sorting system adopts the robot to automatically sort and can automatically sort in the collection and transportation process, so that the operations of specimen collection, specimen sorting, specimen transportation and the like are performed in parallel, and the transportation efficiency of the system is improved.
The robot may perform specimen sorting simultaneously when performing specimen collection, e.g., automatically sort specimens in a specimen collection area once a specimen is detected in the specimen collection area.
The robot may continue to sort specimens while en route to the next delivery or receiving location.
The specimen type of each specimen is first obtained by reading the identification code on the specimen. The identification code is a bar code or a two-dimensional code and is attached to a container shell filled with a specimen. And acquiring the assay item information of the corresponding specimen by scanning the identification code on the shell of the container, and determining the type of the specimen according to the assay item information. The assay item information and the sample type can be in one-to-one correspondence, and a plurality of assay item information belonging to the same assay site can also be in one-to-one correspondence with the sample type.
And determining the receiving place of the corresponding specimen according to the type of the specimen.
In order to carry out sorting, all the sorting storage units on the robot need to be allocated, and each sorting storage unit only corresponds to one receiving place at any one time.
The mapping relationship between each classification storage unit and the receiving place can be preset. For example, the hospital has 6 receiving places, the robot is provided with 6 classification storage units, and a corresponding classification storage unit is arranged for each receiving place in advance. When the specimen is sorted, the specimen is transferred to a sorting storage unit corresponding to a receiving place to be stored, to which receiving place it belongs.
The mapping relationship between each classified storage unit and the receiving place is not preset, and the classified storage units can be dynamically allocated, namely the mapping relationship between the classified storage units and the receiving places can be dynamically set. Particularly, when the number of the receiving places is larger than that of the classified storage units, the classified storage units are dynamically allocated, so that the number of the classified storage units can be saved, and the utilization efficiency of the number of the classified storage units is improved.
Optionally, if the receiving place is a new address, selecting one of the free classified storage units as the classified storage unit corresponding to the receiving place, and marking the state of the classified storage unit corresponding to the receiving place as allocated;
and if the receiving place is an existing address, selecting the classification storage unit corresponding to the receiving place from the allocated classification storage units, and sorting the specimen into the classification storage unit.
If all the samples in an allocated classification storage unit are taken away, the state of the classification storage unit is restored to be idle.
If the number of the receiving places is larger than the number of the sorting storage units, the dynamic allocation of the sorting storage units may encounter the situation that no free sorting storage units are available, and at this time, the samples which are temporarily not sorted can be placed into the candidate area, and the receiving places which are temporarily not sorted into the sorting storage units are recorded.
When there are empty sorting storage units, or there are enough empty sorting storage units (the number of empty sorting storage units is not less than the number of destinations not sorted to the sorting storage units), or all sorting storage units have become empty, the specimen in the candidate area is automatically sorted again.
Step S500 is to the corresponding receiving area according to the obtained receiving area information.
And step S600, when the goods arrive at the receiving place, opening a classification storage unit corresponding to the receiving place so as to take the samples in the classification storage unit away.
Specifically, the destination to which the travel is necessary is determined based on the destination information acquired in the specimen sorting process.
The route planning can be performed according to preset rules, for example, the shortest driving distance is obtained, if a plurality of receiving places exist, the optimal driving distance and other rules can be further performed according to the priority of delivery and the optimal driving distance, and then the corresponding receiving places are respectively moved according to the planned route. The system does not respond according to the production sequence of the delivery demands, but goes to each receiving place according to the planned optimal path, so that the specimen transportation efficiency of the whole system can be improved on the basis of meeting the demands.
When the medical staff arrives at the receiving place, the robot automatically opens the classification storage unit corresponding to the receiving place so that the medical staff can take the specimens out of the classification storage unit. In order to prevent an unauthorized person from taking an article by mistake, it is preferable that the robot automatically opens the sorting storage unit corresponding to the destination when the authority of the person who takes out the specimen is verified. Optionally, a permission identification module is arranged on the robot, for example, a card reading device adopting NFC technology or RFID technology, or a password input device, etc. The method comprises the steps that a user swipes a card in front of card reading equipment, the card reading equipment acquires identity information of a card swiper, and whether the user has corresponding authority or not is judged according to the identity information; or the user inputs a password, the password input equipment acquires the input password, and whether the user has the corresponding authority is judged according to the password. If the person is an authorized person, automatically opening a classification storage unit corresponding to the receiving place on the robot; otherwise, the classification storage unit is not opened.
When the specimen is taken away, the corresponding classification storage unit can be manually closed by a specimen taking-out person; the opened sorting storage unit can also be automatically closed by the robot after a preset time.
When the dynamic allocation classification storage unit is adopted, a plurality of sample sorting can exist, the samples are transported according to the receiving place information acquired in the sample sorting process every time, and the processes are repeated until the sorting and the transportation of all the samples are completed.
According to the embodiment, the automatic collection, automatic sorting and automatic classification transportation of the samples based on the robot are adopted, so that the automatic transportation of the samples in the whole process is completed, the intermediate link of manual participation is eliminated, the labor cost is saved, and manual errors are avoided; meanwhile, the automatic sorting, the collecting and the transporting processes are carried out in parallel, and the whole transporting efficiency is improved.
Another embodiment of the present invention, as shown in fig. 2, is a robot-based specimen transportation method, including:
step S100 is to the corresponding delivery place according to the received specimen delivery place information.
And S210, when the destination is reached and the authority of the specimen input personnel is verified, automatically opening the specimen input port, collecting the specimen to be transported, and storing the specimen in the specimen collecting region.
Step S310, the samples in the sample collecting area are lifted to a sample conveying belt one by one through a sample lifting device, and the sample conveying belt drives the samples to move transversely;
step S320, when the specimen passes through the code reader, acquiring the information of the assay item of the specimen by reading the identification code on the specimen;
step S330, obtaining the specimen type of the specimen according to the assay item information of the specimen.
Step S410 is to determine a receiving place of the specimen and a classification storage unit corresponding to the receiving place according to the specimen type of the specimen.
Step S420 controls the specimen to fall to the corresponding passage opening, and slide to the corresponding sorting storage unit along the passage opening.
Step S500 is to the corresponding receiving area according to the obtained receiving area information.
Step S610 is to open the sorting storage unit corresponding to the receiving place for taking the specimen out of the sorting storage unit when the receiving place is reached and the authority of the specimen taking out personnel is verified.
In particular, specimens refer to test samples in hospitals, usually sealed in cylindrical plastic containers. After the specimen is produced, the specimen producing department calls the robot to transport. And the robot automatically goes to a delivery place to collect the samples according to the received information of the delivery places of the samples.
The robot arrives at the delivery department. A sample delivery person swipes a card on the authority identification module of the robot; after the authority of the specimen throwing personnel is verified, the robot automatically opens the specimen throwing port; the sample throwing personnel put the sample into the robot body and manually close the door.
After the samples are collected at the receiving place, the robot automatically sorts the samples put into the sample collecting area. Meanwhile, the robot continues to go to the next delivery place or receiving place, and the robot can continue to sort the samples in the moving process.
A specimen lifting device is arranged in the specimen collecting area. The lifting device automatically lifts the samples in the sample collecting area one by one onto the sample conveying belt. The lifting device only conveys one specimen at a time, so that the specimen can be conveyed to the conveying belt in a well-ordered manner. The conveying belt rolls to drive the specimen to move transversely. A code reader is arranged on the side surface (one side or two sides, which is not limited herein) of the transmission belt and is used for scanning the sample information on the transmission belt, so that the sample is transmitted to the corresponding distribution mechanism along the transmission belt.
When the specimen passes through the code reader, the code reader scans the identification code on the outer shell of the specimen container to acquire the information of the assay item of the specimen, and the type of the specimen is determined according to the information of the assay item. And determining the receiving place of the corresponding specimen according to the type of the specimen. Each receiving place is provided with an independent classification storage unit in advance to correspond to the receiving place. Each classification storage unit is provided with a corresponding channel port. When the sample is carried to corresponding branch and allocate the mechanism by the transmission belt, under the motor control of allocating the mechanism, allocate the cover and remove the sample to the passway that corresponding categorised storage unit corresponds, the sample slides along the passway under self action of gravity and arrives the categorised storage unit that this sample corresponds.
Thus, each sample in the sample collecting area is sorted to the corresponding classification storage unit; and meanwhile, the receiving place information of all the samples is obtained. And planning a path according to the receiving place information, and respectively going to the corresponding receiving places according to the planned path.
And after the sample is received by a receiving place, the sample taking personnel swipes the card, the robot verifies the authority of the sample taking personnel, and after the verification is passed, the robot automatically opens the classification storage unit corresponding to the receiving place. And after the samples are taken out, the sample taking personnel close the corresponding cabinet doors of the classification storage units.
The robot proceeds to the next receiving location and repeats the above process until all specimens are transported.
The embodiment provides a concrete sample automatic transportation of full flow, goes on automatic sorting with collection, transportation in parallel, has improved whole conveying efficiency, has reduced artifical involved link simultaneously.
One embodiment of the present invention, as shown in fig. 3, is a robot comprising:
the specimen collection module 100 is used for sending the specimen to a corresponding delivery place according to the received information of the specimen delivery place; and when the goods arrive at the delivery place, opening the sample putting port, collecting the samples to be transported, and storing the samples in the sample collecting area.
Specifically, the specimen refers to a test sample in a hospital, such as a blood sample, a urine sample, a saliva sample, or the like. After the specimen is produced, the medical staff in the department can call the robot to transport by pressing keys or apply for the robot to transport in the system. The system distributes the collected specimen shipment location information to the idle robots. And the robot automatically goes to a delivery place to collect the samples according to the received information of the delivery places of the samples.
And planning a path in the robot according to a preset rule, such as that the travel distance is shortest, and if a plurality of delivery places exist, according to a rule of the delivery priority plus the optimal travel distance, and the like, and then respectively going to the corresponding delivery places according to the planned path. The system can improve the specimen transportation efficiency of the whole system on the basis of meeting the demand because the system does not respond according to the production sequence of the delivery demand but goes to each delivery place according to the planned optimal path.
When arriving at the delivery place, the medical staff can open the specimen input port on the robot and input the specimen of the department into the robot through the specimen input port. The shipping location may produce a plurality of specimens of the same type or different types. All the samples can be put in batch according to the sample putting requirement.
In order to prevent an unauthorized person from mistakenly throwing in articles to enhance safety, preferably, the robot automatically opens the specimen throwing port for throwing in the specimen to be transported when recognizing that the specimen throwing person is an authorized person. Optionally, a permission identification module is arranged on the robot, for example, a card reading device adopting NFC technology or RFID technology, or a password input device, etc. The method comprises the steps that a user swipes a card in front of card reading equipment, the card reading equipment acquires identity information of a card swiper, and whether the user has corresponding authority or not is judged according to the identity information; or the user inputs a password, the password input equipment acquires the input password, and whether the user has the corresponding authority is judged according to the password. If the robot is a person with authority, automatically opening a specimen throwing port on the robot; otherwise, the specimen throwing port is not opened.
After the specimen is put in, the specimen putting opening can be manually closed by a specimen putting person. Or the robot can automatically close the specimen throwing port when detecting that no articles are thrown in within the preset time.
The sample sorting module 200 is used for acquiring the sample type of each sample in the sample collecting area by reading the identification code on the sample; and obtaining a receiving place corresponding to the specimen according to the specimen type, and automatically sorting the specimen to a classification storage unit corresponding to the receiving place.
Specifically, the corresponding receiving place of the specimen is the assay place of the specimen. The robot is provided with a plurality of classification storage units, samples belonging to the same receiving place are placed into the same classification storage unit, and samples belonging to different receiving places are placed into different classification storage units. The process of performing this function is called sorting. The advantage of sorting is that it facilitates the taking of the goods, and all the specimens it requires are available from a sort storage unit at one receiving location.
The manual sorting is usually adopted, but the robot automatic sorting system adopts the robot to automatically sort and can automatically sort in the collection and transportation process, so that the operations of specimen collection, specimen sorting, specimen transportation and the like are performed in parallel, and the transportation efficiency of the system is improved.
The robot may perform specimen sorting simultaneously when performing specimen collection, e.g., automatically sort specimens in a specimen collection area once a specimen is detected in the specimen collection area.
The robot may continue to sort specimens while en route to the next delivery or receiving location.
The specimen type of each specimen is first obtained by reading the identification code on the specimen. The identification code is a bar code or a two-dimensional code and is attached to a container shell filled with a specimen. And acquiring the assay item information of the corresponding specimen by scanning the identification code on the shell of the container, and determining the type of the specimen according to the assay item information. The assay item information and the sample type can be in one-to-one correspondence, and a plurality of assay item information belonging to the same assay site can also be in one-to-one correspondence with the sample type.
And determining the receiving place of the corresponding specimen according to the type of the specimen.
In order to carry out sorting, all the sorting storage units on the robot need to be allocated, and each sorting storage unit only corresponds to one receiving place at any one time.
The mapping relationship between each classification storage unit and the receiving place can be preset. For example, the hospital has 6 receiving places, the robot is provided with 6 classification storage units, and a corresponding classification storage unit is arranged for each receiving place in advance. When the specimen is sorted, the specimen is transferred to a sorting storage unit corresponding to a receiving place to be stored, to which receiving place it belongs.
The mapping relationship between each classified storage unit and the receiving place is not preset, and the classified storage units can be dynamically allocated, namely the mapping relationship between the classified storage units and the receiving places can be dynamically set. Particularly, when the number of the receiving places is larger than that of the classified storage units, the classified storage units are dynamically allocated, so that the number of the classified storage units can be saved, and the utilization efficiency of the number of the classified storage units is improved.
Optionally, if the receiving place is a new address, selecting one of the free classified storage units as the classified storage unit corresponding to the receiving place, and marking the state of the classified storage unit corresponding to the receiving place as allocated;
and if the receiving place is an existing address, selecting the classification storage unit corresponding to the receiving place from the allocated classification storage units, and sorting the specimen into the classification storage unit.
If all the samples in an allocated classification storage unit are taken away, the state of the classification storage unit is restored to be idle.
If the number of the receiving places is larger than the number of the sorting storage units, the dynamic allocation of the sorting storage units may encounter the situation that no free sorting storage units are available, and at this time, the samples which are temporarily not sorted can be placed into the candidate area, and the receiving places which are temporarily not sorted into the sorting storage units are recorded.
When there are empty sorting storage units, or there are enough empty sorting storage units (the number of empty sorting storage units is not less than the number of destinations not sorted to the sorting storage units), or all sorting storage units have become empty, the specimen in the candidate area is automatically sorted again.
The specimen transportation module 300 is used for going to a corresponding receiving place according to the obtained receiving place information; and when the goods arrive at the receiving place, opening the classification storage unit corresponding to the receiving place so as to take away the specimen in the classification storage unit.
Specifically, the destination to which the travel is necessary is determined based on the destination information acquired in the specimen sorting process.
The route planning can be performed according to preset rules, for example, the shortest driving distance is obtained, if a plurality of receiving places exist, the optimal driving distance and other rules can be further performed according to the priority of delivery and the optimal driving distance, and then the corresponding receiving places are respectively moved according to the planned route. The system does not respond according to the production sequence of the delivery demands, but goes to each receiving place according to the planned optimal path, so that the specimen transportation efficiency of the whole system can be improved on the basis of meeting the demands.
When the medical staff arrives at the receiving place, the robot automatically opens the classification storage unit corresponding to the receiving place so that the medical staff can take the specimens out of the classification storage unit. In order to prevent an unauthorized person from taking an article by mistake, it is preferable that the robot automatically opens the sorting storage unit corresponding to the destination when the authority of the person who takes out the specimen is verified. Optionally, a permission identification module is arranged on the robot, for example, a card reading device adopting NFC technology or RFID technology, or a password input device, etc. The method comprises the steps that a user swipes a card in front of card reading equipment, the card reading equipment acquires identity information of a card swiper, and whether the user has corresponding authority or not is judged according to the identity information; or the user inputs a password, the password input equipment acquires the input password, and whether the user has the corresponding authority is judged according to the password. If the person is an authorized person, automatically opening a classification storage unit corresponding to the receiving place on the robot; otherwise, the classification storage unit is not opened.
When the specimen is taken away, the corresponding classification storage unit can be manually closed by a specimen taking-out person; the opened sorting storage unit can also be automatically closed by the robot after a preset time.
When the dynamic allocation classification storage unit is adopted, a plurality of sample sorting can exist, the samples are transported according to the receiving place information acquired in the sample sorting process every time, and the processes are repeated until the sorting and the transportation of all the samples are completed.
According to the embodiment, the automatic collection, automatic sorting and automatic classification transportation of the samples based on the robot are adopted, so that the automatic transportation of the samples in the whole process is completed, the intermediate link of manual participation is eliminated, the labor cost is saved, and manual errors are avoided; meanwhile, the automatic sorting, the collecting and the transporting processes are carried out in parallel, and the whole transporting efficiency is improved.
Another embodiment of the present invention, as shown in fig. 4, is a robot comprising:
and the specimen collection module 100 is used for sending the specimen to a corresponding delivery place according to the received specimen delivery place information.
And the authority identification module 400 is used for identifying the authority of the specimen throwing personnel.
The specimen collection module 100 is further configured to, when the delivery location is reached and the authority of the specimen input personnel is verified, automatically open the specimen input port, collect the specimen to be transported, and store the specimen in the specimen collection area.
The code reader 500 is used for reading the identification code on the sample and acquiring the assay item information of the sample;
sample letter sorting module 200 for will through sample hoisting device the sample in sample collecting region promotes sample transmission belt one by one, sample transmission belt drives sample lateral motion.
The specimen sorting module 200 includes:
a specimen type acquiring unit 210 for acquiring assay item information of the specimen by reading the identification code on the specimen when the specimen passes through the code reader 500; and acquiring the type of the specimen according to the assay item information of the specimen.
The assigning unit 220 determines a receiving place of the specimen and a classification storage unit corresponding to the receiving place according to the specimen type of the specimen.
The specimen sorting module 200 is further configured to control the specimen to fall to a corresponding passage opening, and fall to a corresponding sorting storage unit along the passage opening.
The specimen transportation module 300 is used for going to a corresponding receiving place according to the obtained receiving place information; and when the specimen is received at the receiving place and the authority of the specimen taking personnel is verified, opening the classification storage unit corresponding to the receiving place for taking the specimen in the classification storage unit.
In particular, specimens refer to test samples in hospitals, usually sealed in cylindrical plastic containers. After the specimen is produced, the specimen producing department calls the robot to transport. And the robot automatically goes to a delivery place to collect the samples according to the received information of the delivery places of the samples.
The robot arrives at the delivery department. A sample delivery person swipes a card on the authority identification module of the robot; after the authority of the specimen throwing personnel is verified, the robot automatically opens the specimen throwing port; the sample throwing personnel put the sample into the robot body and manually close the door.
After the samples are collected at the receiving place, the robot automatically sorts the samples put into the sample collecting area. Meanwhile, the robot continues to go to the next delivery place or receiving place, and the robot can continue to sort the samples in the moving process.
The sample lifting device in the robot automatically lifts the samples in the sample collecting area one by one to the sample conveying belt. The conveying belt rolls to drive the specimen to move transversely. When the specimen passes through the code reader, the code reader scans the identification code on the outer shell of the specimen container to acquire the information of the assay item of the specimen, and the type of the specimen is determined according to the information of the assay item. And determining the receiving place of the corresponding specimen according to the type of the specimen. Each receiving place is provided with an independent classification storage unit in advance to correspond to the receiving place. The number of destinations is equal to the number of sorted storage units on the robot.
Each classification storage unit is provided with a corresponding channel port. Under the control of the motor, the specimen is moved to the passage opening corresponding to the corresponding classification storage unit, and the specimen slides to the classification storage unit corresponding to the specimen along the passage opening under the action of self gravity.
Thus, each sample in the sample collecting area is sorted to the corresponding classification storage unit; and meanwhile, the receiving place information of all the samples is obtained. And planning a path according to the receiving place information, and respectively going to the corresponding receiving places according to the planned path.
And after the sample is received by a receiving place, the sample taking personnel swipes the card, the robot verifies the authority of the sample taking personnel, and after the verification is passed, the robot automatically opens the classification storage unit corresponding to the receiving place. And after the samples are taken out, the sample taking personnel close the corresponding cabinet doors of the classification storage units.
The robot proceeds to the next receiving location and repeats the above process until all specimens are transported.
The embodiment provides a concrete sample automatic transportation of full flow, goes on automatic sorting with collection, transportation in parallel, has improved whole conveying efficiency, has reduced artifical involved link simultaneously.
The embodiment of the robot according to the present invention and the embodiment of the specimen transportation method according to the foregoing embodiments are based on the same inventive concept, and can achieve the same technical effects. Therefore, other specific contents of the embodiment of the robot may refer to the description of the embodiment of the specimen transportation method.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A robot-based specimen transport method, comprising:
according to the received information of the specimen delivery place, the specimen is sent to the corresponding delivery place;
when the goods arrive at the delivery place, opening the sample putting port, collecting the samples to be transported, and storing the samples in the sample collecting area;
a sample lifting device is arranged in the sample collecting area, the samples in the sample collecting area are automatically lifted one by the sample lifting device onto a sample conveying belt, and the sample conveying belt drives the samples to move transversely;
a code reader is arranged on the side surface of the sample conveying belt, and the type of each sample in the sample collecting area is obtained by reading the identification code on the sample through the code reader;
obtaining a receiving place corresponding to the specimen according to the specimen type, and automatically sorting the specimen to a classification storage unit corresponding to the receiving place;
according to the obtained information of the goods receiving place, the corresponding goods receiving place is visited;
and when the goods arrive at the receiving place, opening the classification storage unit corresponding to the receiving place so as to take the samples in the classification storage unit away.
2. The robot-based specimen transport method according to claim 1, wherein the opening of the specimen input port when arriving at the delivery location comprises:
and when the delivery place is reached and the right of the specimen throwing personnel is verified, automatically opening the specimen throwing port for throwing the specimen to be transported.
3. The robot-based specimen transportation method according to claim 1, wherein the obtaining of the specimen type of each specimen in the specimen collection area by reading the identification code on the specimen by the code reader comprises:
reading the identification code on the specimen through the code reader to acquire the assay item information of the specimen;
and acquiring the type of the specimen according to the assay item information of the specimen.
4. The robot-based specimen transportation method of claim 1, wherein the obtaining of the destination corresponding to the specimen based on the specimen type and the automatic sorting of the specimen to the sorting storage unit corresponding to the destination comprises:
determining a receiving place of the specimen and a classification storage unit corresponding to the receiving place according to the specimen type of the specimen;
and controlling the specimen to fall to a corresponding passage port and slide to a corresponding classification storage unit along the passage port.
5. The robot-based specimen transport method according to claim 1, wherein the opening of the sorted storage unit corresponding to the ship-to site when arriving at the ship-to site comprises:
and when the receiving place is reached and the authority of the personnel taking out the samples is verified, opening the classification storage unit corresponding to the receiving place.
6. A robot, comprising:
the sample collection module is used for going to a corresponding delivery place according to the received sample delivery place information; when the goods arrive at the delivery place, opening the sample putting port, collecting the samples to be transported, and storing the samples in the sample collecting area;
a sample lifting device is arranged in the sample collecting area, the samples in the sample collecting area are automatically lifted to a sample conveying belt one by the sample lifting device, and the sample conveying belt drives the samples to move transversely;
a code reader is arranged on the side surface of the specimen conveying belt and used for reading the identification code on the specimen;
the sample sorting module is used for acquiring the sample type of each sample in the sample collecting area according to the identification code on the sample; obtaining a receiving place corresponding to the specimen according to the specimen type, and automatically sorting the specimen to a classification storage unit corresponding to the receiving place;
the specimen transportation module is used for going to a corresponding receiving place according to the obtained receiving place information; and when the goods arrive at the receiving place, opening the classification storage unit corresponding to the receiving place so as to take away the specimen in the classification storage unit.
7. The robot of claim 6, further comprising:
the authority identification module is used for identifying the authority of the specimen throwing personnel;
and the specimen collection module is further used for automatically opening the specimen input port for inputting the specimen to be transported when the delivery place is reached and the authority of the specimen input personnel is verified.
8. The robot of claim 6, wherein:
the specimen sorting module includes:
the sample type acquisition unit is used for acquiring the assay item information of the sample according to the identification code on the sample; and acquiring the type of the specimen according to the assay item information of the specimen.
9. The robot of claim 8, wherein the specimen sorting module further comprises:
the distribution unit is used for determining a receiving place of the specimen and a classification storage unit corresponding to the receiving place according to the specimen type of the specimen;
the specimen sorting module is further used for controlling the specimens to fall to the corresponding passage openings and fall to the corresponding classification storage units along the passage openings.
10. The robot of claim 7, wherein:
the permission identification module is further used for identifying the permission of the person taking the specimen;
and the specimen transportation module is further used for opening a classification storage unit corresponding to the receiving place when the receiving place is reached and the authority of the personnel taking out the specimens is verified.
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| US20040236707A1 (en) * | 2003-05-21 | 2004-11-25 | Pitney Bowes Incorporated | Portable mailing system |
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